#ifndef _PID_CONTROL_H
#define _PID_CONTROL_H

#include <string.h>
#include <termios.h>

class PIDControl
{
public:

	PIDControl(float p, float i, float d, float maxsum, float minoutput, float maxoutput);
	PIDControl(void)
	{
		
	}

	float MaxOutput;
	float MinOutput;
	float MaxSum;
	
	float err;
	float olderr;
	float sumerr;
	float kp, ki, kd;
	float PID_Control(float error);
};

#endif
